TWM570847U - Clamping mechanism - Google Patents
Clamping mechanismInfo
- Publication number
- TWM570847U TWM570847U TWM570847U TW M570847 U TWM570847 U TW M570847U TW M570847 U TWM570847 U TW M570847U
- Authority
- TW
- Taiwan
- Prior art keywords
- clamping
- gripping
- frame
- bracket
- module
- Prior art date
Links
- 230000000007 visual effect Effects 0.000 claims description 6
- 238000006073 displacement reaction Methods 0.000 claims description 4
- 238000010586 diagram Methods 0.000 description 5
- 238000000034 method Methods 0.000 description 3
- 230000000875 corresponding Effects 0.000 description 2
- 230000001808 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 1
- 238000004805 robotic Methods 0.000 description 1
Abstract
一種夾取機構,包括一框架、一夾取模組及一間距調整模組。夾取模組設置於框架內。夾取模組包括設置於框架的一驅動件及與驅動件連接的一夾取件。驅動件驅使夾取件沿一夾取路徑相對框架位移,以將框架外部的一板件夾取至框架內部。間距調整模組設置於框架,並與夾取模組連接。間距調整模組驅使夾取模組於一間距調整路徑位移。間距調整路徑與該夾取路徑相互垂直。A clamping mechanism includes a frame, a clamping module and a spacing adjustment module. The clamping module is disposed in the frame. The clamping module comprises a driving component disposed on the frame and a clamping component connected to the driving component. The drive member drives the gripping member to be displaced relative to the frame along a gripping path to clamp a panel outside the frame to the interior of the frame. The spacing adjustment module is disposed in the frame and connected to the clamping module. The spacing adjustment module drives the clamping module to shift in a pitch adjustment path. The pitch adjustment path is perpendicular to the gripping path.
Description
本新型涉及一種夾取機構,特別是一種與機械手臂配合的夾取機構。The present invention relates to a gripping mechanism, and more particularly to a gripping mechanism that cooperates with a robot arm.
因應工廠自動化之需求,均以機械手臂取代人力來將各式板件搬運至推車或是自推車搬運板件至適當位置。圖1A與圖1B繪示習知技術之以機械手臂搬運板件至推車的流程示意圖。請參考圖1A與圖1B,習知技術僅是利用機械手臂11來固持板件12(如圖1A所示),並將板件12送往推車13內(如圖1B所示),以運送至下一工站。然而,機械手臂11在將板件12送往推車13內部存放時(如圖1B所示),機械手臂11容易與推車13產生干涉或是發生碰撞,影響到板件12的輸送效能。甚至,造成板件12或是機械手臂11損壞。此外,因機械手臂11須深入推車13內部作業才能有效置放或是取得板件12,因此機械手臂11需要較高的操控精密度以及乘載負荷能力,造成運作成本大幅增加。In response to the needs of factory automation, robots are used instead of manpower to transport various panels to the cart or to transport the panels from the cart to the appropriate location. FIG. 1A and FIG. 1B are schematic diagrams showing the flow of a mechanical arm handling plate to a cart according to the prior art. Referring to FIG. 1A and FIG. 1B, the prior art only uses the robot arm 11 to hold the plate member 12 (as shown in FIG. 1A), and sends the plate member 12 into the cart 13 (as shown in FIG. 1B). Ship to the next station. However, when the mechanical arm 11 is transported to the inside of the cart 13 (as shown in FIG. 1B), the robot arm 11 easily interferes with or collides with the cart 13, affecting the transport efficiency of the panel 12. Even the plate 12 or the robot arm 11 is damaged. In addition, since the robot arm 11 has to be placed inside the cart 13 to effectively place or obtain the plate member 12, the robot arm 11 requires high precision of manipulation and load capacity, resulting in a substantial increase in operating costs.
本新型之目的在於提供一種夾取機構,以提升機械手臂於物件存取的靈活度,並確保機械手臂以及物件不在物件輸送過程發生碰撞。The purpose of the present invention is to provide a gripping mechanism for improving the flexibility of the robot arm to access an object and ensuring that the robot arm and the object do not collide during the transport of the object.
為達上述目的,本新型提供一種夾取機構,用於與一機械手臂連結,以夾持至少一板件,該板件設有一被夾持結構。該夾取機構包括一框架、一夾取模組以及一間距調整模組。該框架與該機械手臂連結。該夾取模組設置於該框架內。該夾取模組包括設置於該框架的一驅動件以及與該驅動件連接的一夾取件。該驅動件驅使該夾取件沿一夾取路徑相對該框架位移,以將該框架外部的該板件夾取至該框架內部或將該框架內部的該板件夾取至該框架外部。該間距調整模組設置於該框架,並與該夾取模組連接,該間距調整模組驅使該夾取模組於一間距調整路徑位移,該間距調整路徑與該夾取路徑相互垂直。To achieve the above object, the present invention provides a gripping mechanism for coupling with a robot arm for gripping at least one plate member, the plate member being provided with a clamped structure. The clamping mechanism includes a frame, a clamping module and a spacing adjustment module. The frame is coupled to the robotic arm. The clamping module is disposed in the frame. The clamping module includes a driving member disposed on the frame and a clamping member connected to the driving member. The drive member urges the gripping member to be displaced relative to the frame along a gripping path to grip the panel outside the frame to the inside of the frame or to grip the panel inside the frame to the outside of the frame. The spacing adjustment module is disposed on the frame and connected to the clamping module. The spacing adjustment module drives the clamping module to be displaced in a spacing adjustment path, and the spacing adjustment path and the clamping path are perpendicular to each other.
在本新型之一實施例中,該框架具有至少二框體以及多個第一導引支架,該間距調整模組包括一驅動軸,該驅動軸沿該間距調整路徑與該夾取模組相接,該框體與該機械手臂連結,而該些第一導引支架沿該間距調整路徑連接於該些框體之間,且該夾取模組沿該間距調整路徑滑設於該些第一導引支架,該驅動軸驅使該夾取模組沿該間距調整路徑於該些第一導引支架上滑移。In an embodiment of the present invention, the frame has at least two frames and a plurality of first guiding brackets, and the spacing adjustment module includes a driving shaft, and the driving shaft is along the spacing adjustment path and the clamping module The frame is connected to the robot arm, and the first guiding brackets are connected between the frames along the spacing adjustment path, and the clamping module is slid along the spacing adjustment path. And a guiding bracket, the driving shaft drives the clamping module to slide along the spacing adjustment path on the first guiding brackets.
在本新型之一實施例中,該夾取模組設有多個第二導引支架,該些第二導引支架係沿該夾取路徑延伸而滑設於該些第一導引支架,且該驅動軸係與該第二導引支架相接。In an embodiment of the present invention, the clamping module is provided with a plurality of second guiding brackets, and the second guiding brackets are extended along the clamping path and are slidably disposed on the first guiding brackets. And the drive shaft is connected to the second guiding bracket.
在本新型之一實施例中,各該第二導引支架的內緣設有多個沿該夾取路徑排列的導引滾輪,而經該夾取件夾取的該板件沿該些導引滾輪滑移於該框架內。In an embodiment of the present invention, the inner edge of each of the second guiding brackets is provided with a plurality of guiding rollers arranged along the clamping path, and the plate clamped by the clamping member is along the guiding guides. The roller slides within the frame.
在本新型之一實施例中,各該第二導引支架的上緣設有多個沿該夾取路徑排列的防跳脫件,而經該夾取件夾取的該板件限位於該些導引滾輪與該些防跳脫件之間。In an embodiment of the present invention, the upper edge of each of the second guiding brackets is provided with a plurality of anti-jumping members arranged along the clamping path, and the plate clamped by the clamping member is limited to the Between the guide rollers and the anti-jumping members.
在本新型之一實施例中,該防跳脫件為防跳脫滾輪。In an embodiment of the present invention, the anti-jumping member is an anti-skip roller.
在本新型之一實施例中,該夾取件包括一第一夾取支架以及一相對該第一夾取支架移動的第二夾取支架,該第一夾取支架設有一第一夾取滾輪,該第二夾取支架設有一第二夾取滾輪,該板件的該被夾持結構為一凸出結構,該第一夾取滾輪適於位移至該板件的該被夾持結構後緣,而該第二夾取支架適於相對該第一夾取支架移動,使該第二夾取滾輪移動至該板件的該被夾持結構前緣,以與該第一夾取滾輪配合來夾持該被夾持結構。In an embodiment of the present invention, the clamping member includes a first clamping bracket and a second clamping bracket that moves relative to the first clamping bracket, and the first clamping bracket is provided with a first clamping roller. The second clamping bracket is provided with a second clamping roller. The clamped structure of the panel is a protruding structure, and the first clamping roller is adapted to be displaced to the clamped structure of the panel. a second clamping bracket adapted to move relative to the first clamping bracket to move the second clamping roller to a leading edge of the clamped structure of the panel to cooperate with the first clamping roller To clamp the clamped structure.
在本新型之一實施例中,該夾取件更包括一夾取汽缸,與該第一夾取支架以及該第二夾取支架相接,以控制該第一夾取支架以及該第二夾取支架的位移方向。In an embodiment of the present invention, the gripping member further includes a gripping cylinder, and the first gripping bracket and the second gripping bracket are coupled to control the first gripping bracket and the second clip. Take the direction of displacement of the bracket.
在本新型之一實施例中,該驅動件包括一無桿氣缸導引桿,該無桿氣缸導引桿與該夾取件相接,以帶動該夾取件於該夾取路徑上位移。In an embodiment of the present invention, the driving member includes a rodless cylinder guiding rod, and the rodless cylinder guiding rod is coupled to the clamping member to drive the clamping member to be displaced on the clamping path.
在本新型之一實施例中,夾取機構更包括一視覺辨識模組,設置於該框架外側。In an embodiment of the present invention, the clamping mechanism further includes a visual recognition module disposed outside the frame.
為了讓上述目的、技術特徵以及實際實施後之增益性更為明顯易懂,於下文中將係以較佳之實施範例輔佐對應相關之圖式來進行更詳細之說明。In order to make the above-mentioned objects, technical features, and gains after actual implementation more obvious, a more detailed description will be given below with reference to the corresponding drawings in the preferred embodiments.
為能讓 貴審查委員能更瞭解本新型之技術內容,特舉較佳具體實施例說明如下。In order to enable the reviewing committee to better understand the technical content of the present invention, the preferred embodiments are described below.
圖2繪示本新型一實施例的夾取機構與一機械手臂配合來自推車夾持板件的示意圖。圖3繪示圖2的夾取機構的立體圖。圖4A繪示圖2的夾取機構與機械手臂配合來夾持板件的立體圖。圖4B至圖4D繪示4A的夾取機構與機械手臂配合來夾持板件的流程示意圖。圖5A繪示圖4A的夾取機構與板件的側視圖。圖5B至圖5D繪示圖4B至圖4D的夾取機構與板件的側視圖。請參考圖2、圖3、圖4A-圖4D以及圖5A-圖5D,本實施例的夾取機構200係用於與一機械手臂21連結,用以自一推車23內夾持至少一板件22。亦或是,可以夾持至少一板件22,並送往推車13內,以運送至下一工站。在本實施例中,板件22例如設有一被夾持結構22a,而夾取機構200即是經由夾取此被夾持結構22a來移動板件22。2 is a schematic view of the clamping mechanism of the embodiment of the present invention engaged with a mechanical arm from the cart clamping plate. 3 is a perspective view of the gripping mechanism of FIG. 2. 4A is a perspective view of the clamping mechanism of FIG. 2 mated with a robot arm to clamp the panel. FIG. 4B to FIG. 4D are schematic diagrams showing the flow of the clamping mechanism of the 4A and the mechanical arm for clamping the plate. Figure 5A is a side elevational view of the gripping mechanism and panel of Figure 4A. 5B to 5D are side views of the gripping mechanism and the plate of FIGS. 4B to 4D. Referring to FIG. 2, FIG. 3, FIG. 4A - FIG. 4D, and FIG. 5A - FIG. 5D, the clamping mechanism 200 of the present embodiment is used for coupling with a robot arm 21 for clamping at least one from a cart 23. Plate 22. Alternatively, at least one of the panels 22 can be gripped and sent to the cart 13 for transport to the next station. In the present embodiment, the plate member 22 is provided with, for example, a clamped structure 22a, and the gripping mechanism 200 moves the plate member 22 by gripping the clamped structure 22a.
本實施例的夾取機構200包括一框架210、一夾取模組220以及一間距調整模組230。框架210係與機械手臂21連結。夾取模組220則是設置於框架210內,夾取模組220並可被控制自框架210內移動至框架210外以夾取板件22。在本新型中,夾取機構200至少可配設一夾取模組220,而本實施例之夾取機構200係以配設二夾取模組220為例作說明。換言之,本實施例之夾取機構200在與機械手臂21連結後,可以一次夾持二板件22。The clamping mechanism 200 of the embodiment includes a frame 210, a clamping module 220 and a spacing adjustment module 230. The frame 210 is coupled to the robot arm 21. The clamping module 220 is disposed in the frame 210, and the clamping module 220 can be controlled to move from the inside of the frame 210 to the outside of the frame 210 to grip the panel 22. In the present invention, the clamping mechanism 200 can be configured with at least one clamping module 220. The clamping mechanism 200 of the present embodiment is exemplified by the two clamping modules 220. In other words, after the clamping mechanism 200 of the present embodiment is coupled to the robot arm 21, the two plates 22 can be clamped at one time.
承上所述,本實施例的夾取模組220包括設置一驅動件以及一夾取件224。其中,本實施例的驅動件為無桿氣缸導引桿229,其配設於框架210,而夾取件224則是與無桿氣缸導引桿229連接。在一較佳實施例中,無桿氣缸導引桿229可以與夾取件224相接,以帶動夾取件224於一夾取路徑L1上位移。即,無桿氣缸導引桿229可以驅使夾取件224沿夾取路徑L1相對框架210位移,以將框架210外部的板件22夾取至框架210內部或將框架210內部的板件22夾取至框架210外部的推車23。圖4A即繪出機械手臂21帶動夾取機構200至推車23外側並準備夾取置放於推車23內部的板件22的示意圖。為方便說明,圖4A並未繪出推車23。對應地,圖5A即繪出機械手臂21及夾取機構200於圖4A之狀態時的側視圖。由圖2、圖4A以及圖5A更是可清楚的了解,機械手臂21在帶動夾取模組220至推車23處,以準備夾取板件22時,夾取模組220與板件22之間的相對位置。As described above, the clamping module 220 of the embodiment includes a driving member and a clamping member 224. The driving member of the embodiment is a rodless cylinder guiding rod 229 disposed on the frame 210, and the clamping member 224 is connected to the rodless cylinder guiding rod 229. In a preferred embodiment, the rodless cylinder guide rod 229 can be coupled to the gripping member 224 to drive the gripping member 224 to be displaced on a gripping path L1. That is, the rodless cylinder guide rod 229 can drive the gripping member 224 to be displaced relative to the frame 210 along the gripping path L1 to clamp the panel 22 outside the frame 210 to the inside of the frame 210 or to sandwich the panel 22 inside the frame 210. The cart 23 is taken to the outside of the frame 210. 4A is a schematic view showing the mechanical arm 21 driving the gripping mechanism 200 to the outside of the cart 23 and preparing to grip the panel 22 placed inside the cart 23. For convenience of explanation, the cart 23 is not depicted in FIG. 4A. Correspondingly, FIG. 5A is a side view showing the robot arm 21 and the gripping mechanism 200 in the state of FIG. 4A. It can be clearly seen from FIG. 2, FIG. 4A and FIG. 5A that the mechanical arm 21 drives the clamping module 220 to the cart 23 to prepare for gripping the panel 22, and the clamping module 220 and the panel 22 are clamped. The relative position between.
此外,本實施例的間距調整模組230係設置於框架210,並與夾取模組220連接。間距調整模組230可驅使夾取模組220於一間距調整路徑L2位移。在本實施例中,間距調整路徑L2例如是與夾取路徑L1相互垂直。進一步地說,本實施例的框架210例如是由至少二框體212以及多個第一導引支架214所構成,而機械手臂21即是連結於框體212。其中,本實施例的框架210係以二框體212為例做說明。In addition, the pitch adjustment module 230 of the embodiment is disposed on the frame 210 and connected to the clamping module 220. The spacing adjustment module 230 can drive the clamping module 220 to be displaced in a spacing adjustment path L2. In the present embodiment, the pitch adjustment path L2 is, for example, perpendicular to the gripping path L1. Further, the frame 210 of the present embodiment is composed of, for example, at least two frames 212 and a plurality of first guiding brackets 214, and the robot arm 21 is coupled to the frame 212. The frame 210 of the embodiment is described by taking the two frames 212 as an example.
另外,本實施例的間距調整模組230則包括一驅動軸232。驅動軸232是沿間距調整路徑L2與夾取模組220相接,而這些第一導引支架214是沿間距調整路徑L2連接於二框體212之間。在本實施例中,夾取模組220是沿間距調整路徑L2滑設於這些第一導引支架214。如此一來,間距調整模組230即可透過驅動軸232驅使夾取模組220沿間距調整路徑L2於第一導引支架214上滑移。距調整路徑L2例如是於重力方向上的路徑。進而,夾取模組220可以被調整至適當的高度,以讓夾取件224可以在適當的位置夾取板件22。在一較佳實施例中,二框體212之間的距離或是空間亦可以透過第一導引支架214以線性襯套連接的設計方式來做位置的相對滑動,進而調整兩層之間距。換言之,本實施例之第一導引支架214的設計係將固定與導引功能相結合,進而能有效減少機構零件的數量,減輕整體重量。In addition, the pitch adjustment module 230 of the embodiment includes a drive shaft 232. The driving shaft 232 is connected to the clamping module 220 along the spacing adjustment path L2, and the first guiding brackets 214 are connected between the two frames 212 along the spacing adjustment path L2. In the embodiment, the clamping module 220 is slidably disposed on the first guiding brackets 214 along the spacing adjustment path L2. In this way, the spacing adjustment module 230 can drive the clamping module 220 to slide on the first guiding bracket 214 along the spacing adjustment path L2 through the driving shaft 232. The distance adjustment path L2 is, for example, a path in the direction of gravity. Further, the gripping module 220 can be adjusted to an appropriate height so that the gripping member 224 can grip the panel 22 in place. In a preferred embodiment, the distance between the two frames 212 or the space can also be relative to the position of the first guiding bracket 214 in a linear bushing connection to adjust the distance between the two layers. In other words, the design of the first guiding bracket 214 of the embodiment combines the fixing and guiding functions, thereby effectively reducing the number of mechanism parts and reducing the overall weight.
其中,本實施例的夾取模組220係設有多個第二導引支架226,這些第二導引支架226係沿夾取路徑L1延伸而滑設於對應的第一導引支架214,且驅動軸232係與第二導引支架226相接。因此,間距調整模組230即可透過驅動軸232與第二導引支架226的相接關係來驅使夾取模組220沿間距調整路徑L2於第一導引支架214上滑移,進而讓夾取模組220被調整至適當的高度。特別的是,本實施例係於每一第二導引支架226的內緣設置多個沿夾取路徑L1排列的導引滾輪227,而經夾取件224夾取的板件22則適於藉由這些導引滾輪227沿著夾取路徑L1滑移於至框架210內。在一較佳實施例中,每一個第二導引支架226的上緣亦可設置多個沿夾取路徑L1排列的防跳脫件228,而經夾取件224夾取的板件22即可限位於這些導引滾輪227與防跳脫件228之間,避免板件22於夾取過程中偏移或是鬆脫。本實施例的防跳脫件228例如是防跳脫滾輪。The clamping module 220 of the embodiment is provided with a plurality of second guiding brackets 226. The second guiding brackets 226 extend along the clamping path L1 and are slidably disposed on the corresponding first guiding brackets 214. The drive shaft 232 is coupled to the second guide bracket 226. Therefore, the spacing adjustment module 230 can drive the clamping module 220 to slide along the spacing adjustment path L2 on the first guiding bracket 214 through the contact relationship between the driving shaft 232 and the second guiding bracket 226, thereby allowing the clamping The take module 220 is adjusted to an appropriate height. In particular, in this embodiment, a plurality of guiding rollers 227 arranged along the clamping path L1 are disposed on the inner edge of each of the second guiding brackets 226, and the plate 22 clamped by the clamping member 224 is adapted. These guide rollers 227 are slid into the frame 210 along the gripping path L1. In a preferred embodiment, the upper edge of each of the second guiding brackets 226 may also be provided with a plurality of anti-jumping members 228 arranged along the clamping path L1, and the plate member 22 clamped by the clamping member 224 is It can be limited between the guiding rollers 227 and the anti-bounce member 228 to prevent the plate member 22 from being displaced or loosened during the clamping process. The anti-jumping member 228 of the present embodiment is, for example, an anti-skip roller.
請再一併參考圖6A與圖6B,圖6A繪示圖3的夾取件的示意圖,圖6B繪示圖6A的夾取件的上視圖。值得一提的是,本實施例的夾取件224主要是由一第一夾取支架224a以及一可相對第一夾取支架224a移動的第二夾取支架224b所構成。其中,第一夾取支架224a例如設有一第一夾取滾輪224c,第二夾取支架224b例如設有一第二夾取滾輪224d,而板件22的該被夾持結構為一凸出結構。進而,第一夾取滾輪224c適於經由第一夾取支架224a的作動而移動至板件22的被夾持結構22a後緣。對應地,第二夾取支架224b可相對第一夾取支架224a或是第一夾取滾輪224c移動,以使第二夾取滾輪224d可經第二夾取支架224b移動至板件22的被夾持結構22a前緣。Please refer to FIG. 6A and FIG. 6B together. FIG. 6A is a schematic view of the gripping member of FIG. 3, and FIG. 6B is a top view of the gripping member of FIG. 6A. It should be noted that the clamping member 224 of the embodiment is mainly composed of a first clamping bracket 224a and a second clamping bracket 224b movable relative to the first clamping bracket 224a. For example, the first clamping bracket 224a is provided with a first clamping roller 224c, and the second clamping bracket 224b is provided with a second clamping roller 224d, for example, and the clamped structure of the panel 22 is a protruding structure. Further, the first gripping roller 224c is adapted to move to the trailing edge of the clamped structure 22a of the panel 22 via the actuation of the first gripping bracket 224a. Correspondingly, the second clamping bracket 224b can be moved relative to the first clamping bracket 224a or the first clamping roller 224c, so that the second clamping roller 224d can be moved to the panel 22 via the second clamping bracket 224b. The leading edge of the clamping structure 22a.
如此一來,第二夾取滾輪224d即可與第一夾取滾輪224c配合來夾持板件22的被夾持結構22a。進而,板件22可以有效地受到夾取件224的夾持,並能再藉由無桿氣缸導引桿229、引滾輪227以及防跳脫件228的輔助來被傳送至框架210內,以完成板件22的輸送作業。在一較佳實施例中,夾取件224還可包括一夾取汽缸224e。夾取汽缸224e例如是與第一夾取支架224a以及第二夾取支架224b相接,以控制第一夾取支架224a以及第二夾取支架224b的位移方向。In this way, the second gripping roller 224d can cooperate with the first gripping roller 224c to clamp the clamped structure 22a of the panel 22. Furthermore, the plate member 22 can be effectively clamped by the gripping member 224 and can be transferred to the frame 210 by the aid of the rodless cylinder guiding rod 229, the lead roller 227 and the anti-bounce member 228, The conveying operation of the panel 22 is completed. In a preferred embodiment, the gripping member 224 can also include a gripping cylinder 224e. The gripping cylinder 224e is, for example, in contact with the first gripping bracket 224a and the second gripping bracket 224b to control the displacement direction of the first gripping bracket 224a and the second gripping bracket 224b.
上述說明即如圖4B至圖4D所示,亦可一併參考圖5B至圖5D。其中,圖4B即繪出夾取模組220在圖4A的狀態之後,無桿氣缸導引桿229驅使夾取件224沿夾取路徑L1相對框架210位移的示意圖。其中,根據本新型之一具體實施例,當夾取件224被驅使至板件22的被夾持結構22a下方時,夾取件224例如可以藉由間距調整模組230的輔助以沿著距調整路徑L2向上調整夾取位置,進而第一夾取滾輪224c即可抵接於板件22的被夾持結構22a後緣,而被夾持結構22a即可位於第一夾取滾輪224c與第二夾取滾輪224d之間。對應地,圖5B即繪出夾取模組220於圖4B之狀態時的側視圖。在此須注意的是,根據本新型之另一實施例,本新型之夾取件224亦可僅因應各板材22間不同間距而設計,而不在於夾取機構200進行夾取動作時調整間距。The above description is as shown in FIG. 4B to FIG. 4D, and may also be referred to FIG. 5B to FIG. 5D together. 4B shows a schematic diagram of the clip-out module 220 after the state of FIG. 4A, the rodless cylinder guide rod 229 drives the gripping member 224 to be displaced relative to the frame 210 along the gripping path L1. According to an embodiment of the present invention, when the gripping member 224 is driven under the clamped structure 22a of the plate member 22, the gripping member 224 can be assisted by the spacing adjustment module 230, for example, along the distance. The adjustment path L2 adjusts the gripping position upward, and the first gripping roller 224c can abut the rear edge of the clamped structure 22a of the plate member 22, and the clamped structure 22a can be located at the first gripping roller 224c and the first Two clamping rollers 224d between. Correspondingly, FIG. 5B is a side view showing the clamping module 220 in the state of FIG. 4B. It should be noted that, according to another embodiment of the present invention, the gripping member 224 of the present invention can also be designed only according to the different spacing between the plates 22, and not when the gripping mechanism 200 performs the gripping action. .
另外,圖4C繪出夾取模組220在圖4B的狀態之後,夾取汽缸224e或是其他適當動構件驅使第二夾取支架224b朝向被夾持結構22a位移的示意圖。其中,第二夾取支架224b朝向被夾持結構22a位移,會使第二夾取滾輪224d可經第二夾取支架224b的移動而抵觸至板件22的被夾持結構22a前緣。進而,被夾持結構22a能有效地被夾持於第一夾取滾輪224c與第二夾取滾輪224d之間。對應地,圖5C即繪出夾取模組220於圖4C之狀態時的側視圖。In addition, FIG. 4C depicts a schematic view of the gripping module 220 after the state of FIG. 4B, the gripping cylinder 224e or other suitable moving member drives the second gripping bracket 224b toward the clamped structure 22a. Wherein, the second clamping bracket 224b is displaced toward the clamped structure 22a, so that the second clamping roller 224d can interfere with the leading edge of the clamped structure 22a of the plate 22 via the movement of the second clamping bracket 224b. Further, the clamped structure 22a can be effectively clamped between the first gripping roller 224c and the second gripping roller 224d. Correspondingly, FIG. 5C is a side view showing the gripping module 220 in the state of FIG. 4C.
另一方面,圖4D繪出夾取模組220在圖4C的狀態之後,夾取件224沿夾取路徑L1相對框架210位移回其初始位置的示意圖。其中,夾取件224即是將所夾取的板件22帶回至框架210內。需注意的是,在夾取件224將所夾取的板件22帶回至框架210的過程中,板件22會藉由導引滾輪227的引導而沿著夾取路徑L1滑移於至框架210內。同時,藉由本實施例之防跳脫件228的設置,板件22可以穩固地限位於這些導引滾輪227與防跳脫件228之間。On the other hand, FIG. 4D depicts a schematic view of the gripping module 220 being displaced back to its initial position relative to the frame 210 along the gripping path L1 after the state of FIG. 4C. Wherein, the clamping member 224 brings the clamped plate 22 back into the frame 210. It should be noted that during the process of the gripping member 224 bringing the clamped panel 22 back to the frame 210, the panel 22 is slid along the gripping path L1 by the guiding of the guiding roller 227. Inside the frame 210. At the same time, with the arrangement of the anti-bounce member 228 of the present embodiment, the plate member 22 can be stably confined between the guide roller 227 and the anti-bounce member 228.
在一較佳實施例中,夾取機構200還可包括一視覺辨識模組240。視覺辨識模組240例如是設置於框架210外側。視覺辨識模組240可偵測每台推車/機台之實際位置偏差量,修正抓取及放置之點位,進而能容許推車/機台之差異變化之功能,提高抓放板件22的精準度,減少抓放板件22過程中異常狀況的發生。In a preferred embodiment, the clamping mechanism 200 can further include a visual recognition module 240. The visual recognition module 240 is disposed, for example, outside the frame 210. The visual recognition module 240 can detect the actual position deviation of each cart/machine, correct the position of the grabbing and placing, and further enable the function of the difference of the cart/machine, and improve the picking and lowering plate 22 The accuracy reduces the occurrence of abnormal conditions during the process of picking and dropping the panel 22.
請一併參考圖7A與圖7B,圖7A繪示圖4D的無桿氣缸導引桿的示意圖,圖7B繪示圖7A的無桿氣缸導引桿沿I-I’線的剖視圖。本實施例的無桿氣缸導引桿229係設有一無桿缸滑塊229a、一導引板229b、一連接固定塊229c以及二側邊滾輪229d。其中,無桿缸滑塊229a內穿設有一無桿缸汽缸軸229e。無桿氣缸滑塊229a可與無桿缸汽缸軸滑動配合,並以導引板229b拘束無桿氣缸滑塊229a之旋轉自由度。特別的是,為能提升導引板229b與無桿氣缸滑塊229a之間的穩定度,本實施例係於導引板229b側邊設置二側邊滾輪229d,並使用連接固定塊229c來連接無桿氣缸滑塊229a及兩組側邊滾輪229d,並以側邊滾輪229d夾住導引板229b,以避免無桿氣缸滑塊229a與無桿缸汽缸軸於滑動配合時的旋轉晃動。本實施例的設計不用額外安裝導引軌道,減少機構和整體重量,又能減少無桿氣缸滑塊的偏擺晃動角度,提高更好的準確度、精度。7A and FIG. 7B, FIG. 7A is a schematic view of the rodless cylinder guide rod of FIG. 4D, and FIG. 7B is a cross-sectional view of the rodless cylinder guide rod of FIG. 7A taken along line I-I'. The rodless cylinder guiding rod 229 of this embodiment is provided with a rodless cylinder slider 229a, a guiding plate 229b, a connecting fixing block 229c and two side rollers 229d. Wherein, the rodless cylinder slider 229a is provided with a rodless cylinder shaft 229e. The rodless cylinder slider 229a is slidably engaged with the rodless cylinder shaft, and the degree of freedom of rotation of the rodless cylinder slider 229a is restrained by the guide plate 229b. In particular, in order to improve the stability between the guide plate 229b and the rodless cylinder slider 229a, the present embodiment is provided with two side rollers 229d on the side of the guide plate 229b, and is connected by using the connection fixing block 229c. The rodless cylinder slider 229a and the two sets of side rollers 229d sandwich the guide plate 229b with the side rollers 229d to prevent the rotation of the rodless cylinder slider 229a and the rodless cylinder shaft in sliding engagement. The design of the embodiment does not need to additionally install the guiding track, thereby reducing the mechanism and the overall weight, and reducing the yaw angle of the rodless cylinder slider, thereby improving the accuracy and precision.
綜上所述,本新型的夾取機構在經機械手臂的帶動後能配設在承載板件的推車開口,進而再藉由夾取模組的驅動件以及間距調整模組的驅動軸等驅動構件的驅使讓夾取件夾取板件的前緣,再依靠導引滾輪的輔助將板件自推車取出至夾取機構的框架內,並送至下一個工站。當然,本新型的夾取模組亦可以自框架內取出板件,並送至推車內,其工作原理與前述說明相同。換言之,本新型的夾取機構能有效率且安全地輸送板件,從而節省習知技術的機械手臂之取放板件時的移動距離及機械手臂的移動空間。In summary, the gripping mechanism of the present invention can be disposed on the cart opening of the carrying plate member after being driven by the robot arm, and then by the driving member of the clamping module and the driving shaft of the spacing adjusting module, etc. The drive member is driven to cause the gripping member to grip the leading edge of the panel, and then the guide member is used to take the panel out of the cart into the frame of the gripping mechanism and to the next station. Of course, the gripping module of the present invention can also take out the panel from the frame and send it to the cart, and the working principle is the same as the foregoing description. In other words, the gripping mechanism of the present invention can efficiently and safely transport the panel, thereby saving the moving distance of the mechanical arm of the prior art and the moving space of the robot arm.
再者,本新型的夾取機構可以同時配設二個以上的夾取模組。如此一來,夾取機構即可同時抓取兩片以上的板件,進而節省作業時間,增加效率,提升產能。另一方面,由於本新型的夾取機構配設有間距調整模組,因此本新型的夾取機構可以在重力方向上適當的調整夾取模組間的作業高度。換言之,本新型的夾取機構可同時針對不同板件配置間距的推車/機台進行作業,減少因應不同推車/機台而更換夾具及更換夾具後的調整的時間,從而提高產能。Furthermore, the gripping mechanism of the present invention can be equipped with two or more gripping modules at the same time. In this way, the clamping mechanism can simultaneously grab two or more pieces, thereby saving working time, increasing efficiency, and increasing productivity. On the other hand, since the gripping mechanism of the present invention is provided with a pitch adjusting module, the gripping mechanism of the present invention can appropriately adjust the working height between the gripping modules in the direction of gravity. In other words, the gripping mechanism of the present invention can simultaneously work on carts/machines with different spacings of the plates, thereby reducing the adjustment time after replacing the jigs and replacing the jigs according to different carts/machines, thereby increasing the productivity.
需注意的是,上述僅為實施例,而非限制於實施例。譬如 此不脫離本新型基本架構者,皆應為本專利所主張之權利範圍,而應以專利申請範圍為準。It should be noted that the above is only an embodiment, and is not limited to the embodiment. For example, those who do not deviate from the basic structure of this new model shall be the scope of rights claimed in this patent, and shall be subject to the scope of patent application.
11、21‧‧‧機械手臂11, 21‧‧‧ mechanical arm
12、22‧‧‧板件 12, 22‧‧‧ boards
13、23‧‧‧推車 13, 23‧‧‧ carts
22a‧‧‧被夾持結構 22a‧‧‧Clamped structure
200‧‧‧夾取機構 200‧‧‧Clamping mechanism
210‧‧‧框架 210‧‧‧Frame
212‧‧‧框體 212‧‧‧ frame
214‧‧‧第一導引支架 214‧‧‧First guide bracket
220‧‧‧夾取模組 220‧‧‧Capture module
222‧‧‧拖鏈 222‧‧‧ drag chain
224‧‧‧夾取件 224‧‧‧Clamping parts
224a‧‧‧第一夾取支架 224a‧‧‧First clamping bracket
224b‧‧‧第二夾取支架 224b‧‧‧Second gripping bracket
224c‧‧‧第一夾取滾輪 224c‧‧‧First gripper roller
224d‧‧‧第二夾取滾輪 224d‧‧‧Second gripping roller
224e‧‧‧夾取汽缸 224e‧‧‧clamping cylinder
226‧‧‧第二導引支架 226‧‧‧Second guiding bracket
227‧‧‧導引滾輪 227‧‧‧Guide Roller
228‧‧‧防跳脫件 228‧‧‧Anti-skid parts
229‧‧‧無桿氣缸導引桿 229‧‧‧ rodless cylinder guide rod
229a‧‧‧無桿缸滑塊 229a‧‧‧rodless slider
229b‧‧‧導引板 229b‧‧‧Guideboard
229c‧‧‧連接固定塊 229c‧‧‧Connecting fixed block
229d‧‧‧側邊滾輪 229d‧‧‧side roller
229e‧‧‧無桿缸汽缸軸 229e‧‧‧rodless cylinder shaft
230‧‧‧間距調整模組 230‧‧‧pitch adjustment module
232‧‧‧驅動軸 232‧‧‧Drive shaft
240‧‧‧視覺辨識模組 240‧‧‧Visual Identification Module
L1‧‧‧夾取路徑 L1‧‧‧Catch path
L2‧‧‧間距調整路徑 L2‧‧‧pitch adjustment path
圖1A與圖1B繪示習知技術之以機械手臂搬運板件至推車的流程示意圖。 圖2繪示本新型一實施例的夾取機構與一機械手臂配合來自推車夾持板件的示意圖。 圖3繪示圖2的夾取機構的立體圖。 圖4A繪示圖2的夾取機構與機械手臂配合來夾持板件的立體圖。 圖4B至圖4D繪示4A的夾取機構與機械手臂配合來夾持板件的流程示意圖。 圖5A繪示圖4A的夾取機構與板件的側視圖。 圖5B至圖5D繪示圖4B至圖4D的夾取機構與板件的側視圖。 圖6A繪示圖3的夾取件的示意圖。 圖6B繪示圖6A的夾取件的上視圖。 圖7A繪示圖4D的無桿氣缸導引桿的示意圖。 圖7B繪示圖7A的無桿氣缸導引桿沿I-I’線的剖視圖。FIG. 1A and FIG. 1B are schematic diagrams showing the flow of a mechanical arm handling plate to a cart according to the prior art. 2 is a schematic view of the clamping mechanism of the embodiment of the present invention engaged with a mechanical arm from the cart clamping plate. 3 is a perspective view of the gripping mechanism of FIG. 2. 4A is a perspective view of the clamping mechanism of FIG. 2 mated with a robot arm to clamp the panel. FIG. 4B to FIG. 4D are schematic diagrams showing the flow of the clamping mechanism of the 4A and the mechanical arm for clamping the plate. Figure 5A is a side elevational view of the gripping mechanism and panel of Figure 4A. 5B to 5D are side views of the gripping mechanism and the plate of FIGS. 4B to 4D. FIG. 6A is a schematic view of the gripping member of FIG. 3. FIG. Figure 6B is a top view of the gripping member of Figure 6A. 7A is a schematic view of the rodless cylinder guide rod of FIG. 4D. Figure 7B is a cross-sectional view of the rodless cylinder guide rod of Figure 7A taken along line I-I'.
Claims (10)
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TWI656004B (en) * | 2018-08-16 | 2019-04-11 | 聯毅科技股份有限公司 | Clamping mechanism |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
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TWI656004B (en) * | 2018-08-16 | 2019-04-11 | 聯毅科技股份有限公司 | Clamping mechanism |
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